Muñoz de la Peña, David and Bemporad, Alberto and Filippi, Carlo
*Robust explicit MPC based on approximate multi-parametric convex programming.*
In:
Decision and Control Conference.
IEEE, 14th-17th December 2004, pp. 2491-2496.
ISBN 0-7803-8682-5
(2004)

## Abstract

Many robust model predictive control (MPC) schemes require the online solution of a convex program, which can be computationally demanding. For deterministic MPC schemes, multi-parametric programming was successfully applied to move most computations offline. In this paper we adopt a general approximate multi-parametric algorithm recently suggested for convex problems and propose to apply it to a classical robust WC scheme. This approach enables one to implement a robust MPC controller in real time for systems with polytopic uncertainty, ensuring robust constraint satisfaction and robust convergence to a given bounded set.

Item Type: | Book Section |
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Identification Number: | 10.1109/CDC.2004.1428788 |

Uncontrolled Keywords: | approximate multi-parametric convex programming; classical robust WC scheme; deterministic MPC schemes; polytopic uncertainty; robust constraint satisfaction; robust convergence; robust model predictive control schemes; uncertain systems; convex programming; predictive control; robust control; uncertain systems |

Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TJ Mechanical engineering and machinery |

Research Area: | Computer Science and Applications |

Depositing User: | Professor Alberto Bemporad |

Date Deposited: | 27 Jul 2011 08:47 |

Last Modified: | 05 Aug 2011 13:54 |

URI: | http://eprints.imtlucca.it/id/eprint/565 |

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